Myles Weston had given the Gills a 42nd-minute lead at the Crown Ground but Padraig Amond was caught by goalkeeper Stuart Nelson seconds after coming on as a second-half substitute, Nelson saw red and sub 'keeper Tommy Forecast's first job a minute later was to pick James Beattie's spot-kick out of his net.
"In one aspect, it's a point gained against the league leaders and them having a half-time lead but, with how we played in the second half, you could say it was two points dropped," boss Richardson said.
"In the first half both teams cancelled each other out and we were disappointed to concede like we did as we had worked hard on stopping Gillingham playing like we know they can.
"We improved after the break, we had a good talk at half-time and the lads came out buoyant and every single player gave 100%.
"You can obviously take confidence by pushing the top-of-the-league team so close and James Beattie has played at a high level, so we have every confidence with him on penalties."